Yes, exactly. Having seen Rogue One, I went on to Eps. IV-V, then flashed back to II-III, then resumed with VI, then decided to go ahead and rewatch VII. And I found that the premise of Machete Order was exactly right -- it worked perfectly fine as a cohesive narrative without TPM. There was nothing that AOTC and ROTS didn't adequately set up or explain. The only exception was that if you'd never seen TPM, you wouldn't understand the reference to midi-chlorians in ROTS -- but that's okay, because the original films gave us a ton of terms that weren't defined, like the Kessel Run and gundarks and Ord Mantell and nerf-herders.
In fact, that's one thing I think was lost in the prequels. The originals did a great job creating a feel of a larger world beyond what we saw through all these throwaway references. They created their world as much through dialogue as through visuals. But in the prequels, Lucas had the technology to put every idea he had on camera, so everything was shown rather than talked about, and so we got a hugely cluttered world that somehow had less texture because it wasn't filtered through the characters.